diff --git a/source/car/electronics_embedded_systems/car_electronics_embedded_systems.rst b/source/car/electronics_embedded_systems/car_electronics_embedded_systems.rst index e88bae7..8eb8c2b 100644 --- a/source/car/electronics_embedded_systems/car_electronics_embedded_systems.rst +++ b/source/car/electronics_embedded_systems/car_electronics_embedded_systems.rst @@ -245,4 +245,27 @@ Embedded Modules :maxdepth: 3 :caption: Embedded Modules - embedded_modules/embedded_modules \ No newline at end of file + embedded_modules/embedded_modules + +Electronics Wiring +------------------------------------ + +This guide is intended to provide a comprehensive overview of the electrical systems in the SDV, including the wiring diagrams with each appropiate detail. + +Bare with me because this is a work in progress, but also big enough to get lost with all the wires. + +It is advised for you to click the image to see it in full resolution. + +.. figure:: /images/SDV/Wiring/Diagram.png + :align: center + :alt: Wiring Diagram. + :figclass: align-center + :height: 340px + :width: 460px + +We will be dividing it into several sections, explaining functionality of each one of them, so feel free to read each one of them and skip the ones you are not interested in. + +.. toctree:: + :maxdepth: 3 + + electric_wiring/electric_wiring diff --git a/source/car/electronics_embedded_systems/electric_wiring/electric_wiring.rst b/source/car/electronics_embedded_systems/electric_wiring/electric_wiring.rst new file mode 100644 index 0000000..c4ce8d3 --- /dev/null +++ b/source/car/electronics_embedded_systems/electric_wiring/electric_wiring.rst @@ -0,0 +1,672 @@ +Car Essentials Wiring +------------------------------------ +Simple but useful parts every car needs to operate correctly. + +.. figure:: /images/SDV/Wiring/CarEssentials.png + :align: center + :alt: Wiring Diagram. + :figclass: align-center + :height: 360px + :width: 420px + +.. list-table:: Wiring table + :widths: 15 15 20 30 + :header-rows: 1 + + * - Connection + - Part + - Color + - Notes + + * - P1 + - Essentials Board + - Yellow + - Ethernet cable to main controller board + + * - P2 + - Essentials Board + - Red + - Provides power to the board (48V) + + * - P3 + - Essentials Board + - Black + - Provides ground to the board + + * - P4 + - Fuse Box + - Orange + - Connection to essentials board + + * - P5 + - Fuse Box + - Green + - Connection to essentials board + + * - P6 + - Fuse Box + - Yellow + - Connection to essentials board + + * - P7 + - Fuse Box + - Coral + - Connection to essentials board + + * - P8 + - Fuse Box + - Light Purple + - Connection to essentials board + + * - P9 + - Fuse Box + - Cyan + - Connection to essentials board + + * - P10 + - Fuse Box + - Teal + - Connection to essentials board + + * - P11 + - Fuse Box + - Purple + - Connection to essentials board + + * - P12 + - Fuse Box + - Dark Orange + - Connection to essentials board + + * - P13 + - Fuse Box + - Pink + - Connection to essentials board + + * - P14 + - Fuse Box + - Red + - Power to fuse box (12V) + + * - P15 + - Fuse Box + - Red + - Power to fuse box (12V) + + * - P16 + - Fuse Box + - Red + - Power to fuse box (12V) + + * - P17 + - Fuse Box + - Red + - Power to fuse box (12V) + + * - P18 + - Fuse Box + - Red + - Power to fuse box (12V) + + * - P19 + - Fuse Box + - Bluish Purple + - Breakout to lights (69) + + * - P20 + - Fuse Box + - Blue + - Breakout to lights (67) + + * - P21 + - Fuse Box + - Dark Green + - Breakout to lights (68) + + * - P22 + - Fuse Box + - Orange + - Connection to the claxon + + * - P23 + - Fuse Box + - Teal + - Connection to windshield line (77) + +.. list-table:: Wiring table 2 + :widths: 15 15 20 30 + :header-rows: 1 + + * - Connection + - Part + - Color + - Notes + + * - 2 + - 2x9 White Connector + - Red + - Connects to 48V power + + * - 10 + - 2x9 White Connector + - Red + - Connects to 48V power + + * - 7 + - Back-facing internal right light + - Blue + - + + * - 19 + - 2x9 White Connector + - Cyan + - Connects to motor sensor + + * - 22 + - 2x9 White Connector + - Pink + - Connects to motor sensor + + * - 26 + - 2x9 White Connector + - Black + - Unkown + + * - 34 + - 2x9 White Connector + - Black + - Unkown + + * - 51 + - 2x9 White Connector + - Black + - Connects to ground + + * - 52 + - 2x9 White Connector + - Black + - Connects to ground + + * - 54 + - 2x9 White Connector + - Black + - Connects to ground + + * - 56 + - 2x9 White Connector + - Orange + - HBRAKE connection Hand and Feet Controller Board + + * - 62 + - Fuse Box + - Orange + - Connects cables 87, 83 and 64 + + * - 63 + - Fuse Box + - Brown + - Connects cable 69 + + * - 64 + - Fuse Box + - Purple + - Connects cable 62 + + * - 67 + - E1.F Connector + - Purple + - Connects to Median Lead Left Light + + * - 68 + - E1.F Connector + - Green + - Connects to Median Lead Right Light + + * - 69 + - Fuse Box + - Dark Pink + - Connects cable 63 + + * - 70 + - E2.M Connector + - + - Terminal 5 - Left Claxon + + * - 72 + - Lead Superior Right Light + - Light Purple + - Connects cable 86 + + * - 73 + - Lead Superior Left Light + - Green + - Connects cable 85 + + * - 77 + - E2.M Connector + - Green + - Terminal 2 - Wiper's green cable + + * - 78 + - E2.M Connector + - Yellow + - Terminal 3 - Wiper's yellow cable + + * - 81 + - E2.M Connector + - Light Purple + - Terminal 4 - Connects to cable 62 + + * - 82 + - E2.F Connector + - Light Purple + - Terminal 1 - Connects to cable 66 + + * - 83 + - Fuse Box + - Pink + - Connects to handbrake + + * - 85 + - Fuse Box + - Pink + - Connects to terminal 7 E1.F + + * - 86 + - Fuse Box + - Teal + - Connects to terminal 5 E1.F + + * - 87 + - Fuse Box + - Cyan + - Lights switch + +Utility Wiring +------------------------------------ +Main controller board, connected to utility systems and switches, connecting every other system together. + +.. figure:: /images/SDV/Wiring/Utility.png + :align: center + :alt: Wiring Diagram. + :figclass: align-center + :height: 450px + :width: 450px + +.. list-table:: Wiring table + :widths: 15 15 20 30 + :header-rows: 1 + + * - Connection + - Part + - Color + - Notes + + * - G1 + - Main Controller Board + - Red + - Power to main controller board (12V) + + * - G2 + - Button Board + - Orange + - Connection of button board to main controller board + + * - G3 + - Main Controller Board + - Red + - Power to main controller board (12V) + + * - G4 + - Panel Switch Button 1 + - Green + - Read state of switch + + * - G5 + - Main Controller Board + - Read + - Power to main controller board (12V) + + * - G6 + - Panel Switch Button 2 + - Cyan + - Read state of switch + + * - G9 + - Emeregency Button Input + - Pink + - Read state of emergency button (1) + + * - G10 + - Emeregency Button Input + - Purple + - Read state of emergency button (2) + + * - G11 + - Button Board + - Black + - Ground to the button board + + * - G12 + - Emergency Button + - Black + - Ground to emergency button (1) + + * - G13 + - Emergency Button + - Black + - Ground to emergency button (2) + + * - G14 + - Panel Switch Button 1 + - Black + - Ground to panel switch button 1 + + * - G15 + - Panel Switch Button 2 + - Black + - Ground to panel switch button 2 + + * - G16 + - Fuse Box + - Red + - Power to fuse box (12V) + + * - G17 + - Fuse Box + - Black + - Ground to fuse box + + * - G18 + - Fuse Box + - Red + - Connection to main controller board + + * - G19 + - Fuse Box + - Black + - Connection to main controller board + + * - G20 + - Fuse Box + - Red + - Connection to main controller board + + * - G21 + - Fuse Box + - Black + - Connection to main controller board + + * - G22 + - Fuse Box + - Red + - Connection to main controller board + + * - G23 + - Fuse Box + - Black + - Connection to main controller board + + * - G24 + - Fuse Box + - Red + - Connection to main controller board + + * - G25 + - Fuse Box + - Black + - Connection to main controller board + + * - G26 + - Fuse Box + - Red + - Connection to main controller board + + * - G27 + - Fuse Box + - Black + - Connection to main controller board + + * - G28 + - Fuse Box + - Red + - Connection to main controller board + + * - G29 + - Fuse Box + - Black + - Connection to main controller board + + * - P1 + - Main Controller Board + - Yellow + - Ethernet cable to car essential wiring + + * - S1 + - Main Controller Board + - Yellow + - Ethernet cable to mobility wiring + + * - T1 + - Main Controller Board + - Yellow + - Ethernet cable to hand and feet controller's wiring + +Mobility Wiring +------------------------------------ + +Essential part of the car, wiring encoders and motors along with their controllers. + +.. figure:: /images/SDV/Wiring/Mobility.png + :align: center + :alt: Wiring Diagram. + :figclass: align-center + :height: 450px + :width: 392px + +.. list-table:: Wiring table + :widths: 15 15 20 30 + :header-rows: 1 + + * - Connection + - Part + - Color + - Notes + + * - S1 + - Stepper Bridge + - Yellow + - Ethernet cable to main controller board + + * - S2 + - Stepper Driver 1 (Top) + - Blue + - Ethernet cable + + * - S3 + - Stepper Driver 1 (Top) + - Light Gray + - A+, A-, B+, B- + + * - S4 + - Stepper Driver 1 (Top) + - Red + - 48V Connection (V+) + + * - S5 + - Stepper Driver 1 (Top) + - Black + - GND Connection (V-) + + * - S6 + - JST Encoder 1 (Left) + - Pink + - + + * - S7 + - JST Encoder 2 (Right) + - Purple + - + + * - S8 + - Stepper Driver 2 (Bottom) + - Blue + - Ethernet cable + + * - S9 + - Stepper Driver 2 (Bottom) + - Light Gray + - A+, A-, B+, B- + + * - S10 + - Stepper Driver 2 (Bottom) + - Red + - 48V Connection (V+) + + * - S11 + - Stepper Driver 2 (Bottom) + - Black + - GND Connection (V-) + + +Hand and Feet Controllers Wiring +------------------------------------ + +Wiring interacting with essential tools to manage the car and drive it. + +.. figure:: /images/SDV/Wiring/HandFeetControllers.png + :align: center + :alt: Wiring Diagram. + :figclass: align-center + :height: 320px + :width: 440px + +.. list-table:: Wiring table + :widths: 15 15 20 30 + :header-rows: 1 + + * - Connection + - Part + - Color + - Notes + + * - T1 + - Hand and Feet Controllers Board + - Yellow + - Ethernet cable to main controller board + + * - T2 + - Hand and Feet Controllers Board + - Black + - Provides ground to the board + + * - T3 + - Hand and Feet Controllers Board + - Red + - Provides power to the board (48V) + + * - T4 + - Hand and Feet Controllers Board + - Pink + - J3 connection to speed controller + + * - T5 + - Hand and Feet Controllers Board + - Teal + - WPot connection to speed controller + + * - T6 + - Hand and Feet Controllers Board + - Blue + - J2E connection to speed controller + + * - T7 + - Hand and Feet Controllers Board + - Yellow + - HBRAKE connection to hand brake lever + + * - T8 + - Hand and Feet Controllers Board + - Gray + - RM_E pedal microswitch connection + + * - T9 + - Hand and Feet Controllers Board + - Cyan + - RM_M pedal microswitch connection + + * - T10 + - Hand and Feet Controllers Board + - Purple + - RM_A pedal microswitch connection + + * - T11 + - Hand and Feet Controllers Board + - Gray + - Provides ground to the board + +Sensors Wiring +------------------------------------ + +In charge of interacting with the outside world, this part of the wiring includes several sensors. + +.. figure:: /images/SDV/Wiring/Sensoring.png + :align: center + :alt: Wiring Diagram. + :figclass: align-center + :height: 240px + :width: 320px + +.. list-table:: Wiring table + :widths: 15 15 20 30 + :header-rows: 1 + + * - Connection + - Sensor + - Color + - Notes + + * - C1 + - Jetson Xavier AGX + - Red & Black + - Provides power + + * - C2 + - Jetson Xavier AGX + - Orange + - Connection to router + + * - C3 + - Multisense S21B + - Red & Black + - Provides power (24V) + + * - C4 + - Multisense S21B + - Green + - Connection to router + + * - C5 + - Velodyne HDL-32E Lidar + - Red & Black + - Provides power + + * - C6 + - Velodyne HDL-32E Lidar + - Pink + - Connection to router + + * - Unnamed + - IMUs (4) + - Cyan + - Connection to "placa radares" + + * - Unnamed + - Vectornav + - Blue + - Connection to Jetson Xavier AGX + + * - Unnamed + - Placa Radares + - Red & Black + - Provides power (12V) diff --git a/source/images/SDV/Wiring/CarEssentials.png b/source/images/SDV/Wiring/CarEssentials.png new file mode 100644 index 0000000..51c5728 Binary files /dev/null and b/source/images/SDV/Wiring/CarEssentials.png differ diff --git a/source/images/SDV/Wiring/Diagram.png b/source/images/SDV/Wiring/Diagram.png new file mode 100644 index 0000000..724dc61 Binary files /dev/null and b/source/images/SDV/Wiring/Diagram.png differ diff --git a/source/images/SDV/Wiring/HandFeetControllers.png b/source/images/SDV/Wiring/HandFeetControllers.png new file mode 100644 index 0000000..0980c85 Binary files /dev/null and b/source/images/SDV/Wiring/HandFeetControllers.png differ diff --git a/source/images/SDV/Wiring/Mobility.png b/source/images/SDV/Wiring/Mobility.png new file mode 100644 index 0000000..1105376 Binary files /dev/null and b/source/images/SDV/Wiring/Mobility.png differ diff --git a/source/images/SDV/Wiring/Sensoring.png b/source/images/SDV/Wiring/Sensoring.png new file mode 100644 index 0000000..a0d3aee Binary files /dev/null and b/source/images/SDV/Wiring/Sensoring.png differ diff --git a/source/images/SDV/Wiring/Utility.png b/source/images/SDV/Wiring/Utility.png new file mode 100644 index 0000000..1f0189d Binary files /dev/null and b/source/images/SDV/Wiring/Utility.png differ